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RoboticsClubatUCF / IARC

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Fisheye Image Homography & Camera Calibration #18

Open klaki892 opened 7 years ago

klaki892 commented 7 years ago

We are using a Fisheye Lens to obtain the most data we can with the one visual camera we have on Ridley. Because of this, and the nature of Fisheye perspectives, the farther from the center we are, the more distorted the image is and therefore the more skewed the actual translated distances are in relation to the real world.

This is a vision coding task to manipulate the image back to a flat-esq image that can then be used by the other vision functions to do their respective tasks.

This link may be helpful or a start if OpenCV is used.

Azimath commented 7 years ago

Unwarping an image like this can be fairly tricky, but should have support from other open source software already. Even if it isn't perfect you should be able to get by since things in the center of your vision should have a sufficiently low distortion to position yourself above them for a landing. SLAM wouldn't be happy though.